# Some Remarks on the RRR Linkage

Book chapter

Selig, JM (2014). Some Remarks on the RRR Linkage. in: Lenarcic, J and Khatib, O (ed.) Advances in robot kinematics: analysis and design Switzerland Springer International Publishing. pp. 77 - 85 (9)

Authors | Selig, JM |
---|---|

Editors | Lenarcic, J and Khatib, O |

Abstract | The variety of rigid-body displacements of the final link of a 3 R kinematic chain are investigated. In most cases the variety generated is a Segre manifold; the Cartesian product of three projective lines. The homology of this variety as a subvariety of the Study quadric is found and simple applications to some enumerative problems in kinematics are given. The conditions for the variety to fail to be a Segre variety are investigated in full and the case where the linkage forms the first three joints of a Bennett mechanism is examined. |

Page range | 77 - 85 (9) |

Year | 2014 |

Book title | Advances in robot kinematics: analysis and design |

Publisher | Springer International Publishing |

Place of publication | Switzerland |

ISBN | 978-3-319-06697-4 |

Publication dates | |

Print | 03 Jul 2014 |

Publication process dates | |

Deposited | 21 Mar 2017 |

Accepted | 03 Jul 2014 |

Digital Object Identifier (DOI) | doi:10.1007/978-3-319-06698-1_9 |

Accepted author manuscript | License File description Presentation |

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https://openresearch.lsbu.ac.uk/item/87803

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